- Added serialization to btBvhTriangleMeshShape/btOptimizedBvh. See ConcaveDemo for example usage.
- added bt32BitAxisSweep3, which co-exists without recompilation, using template class. This broadphase is recommended for large worlds with many objects (> 16384), until btMultiSwap is finished. - Fixed some recent issues in Bullet 2.57 related to compound (thanks Proctoid) and memory allocations
This commit is contained in:
ejcoumans
@@ -21,660 +21,18 @@
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#include <assert.h>
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#ifdef DEBUG_BROADPHASE
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#include <stdio.h>
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void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality)
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btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache)
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:btAxisSweep3Internal(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache)
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{
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int numEdges = m_pHandles[0].m_maxEdges[axis];
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printf("SAP Axis %d, numEdges=%d\n",axis,numEdges);
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int i;
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for (i=0;i<numEdges+1;i++)
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{
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Edge* pEdge = m_pEdges[axis] + i;
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Handle* pHandlePrev = getHandle(pEdge->m_handle);
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int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
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char beginOrEnd;
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beginOrEnd=pEdge->IsMax()?'E':'B';
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printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex);
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}
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if (checkCardinality)
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assert(numEdges == m_numHandles*2+1);
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}
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#endif //DEBUG_BROADPHASE
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btBroadphaseProxy* btAxisSweep3::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
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{
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(void)shapeType;
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BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask);
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Handle* handle = getHandle(handleId);
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return handle;
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}
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void btAxisSweep3::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
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{
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Handle* handle = static_cast<Handle*>(proxy);
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removeHandle(handle->m_handleId,dispatcher);
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}
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void btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
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{
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Handle* handle = static_cast<Handle*>(proxy);
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updateHandle(handle->m_handleId,aabbMin,aabbMax);
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}
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btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles, btOverlappingPairCache* pairCache)
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:m_invalidPair(0),
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m_pairCache(pairCache),
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m_ownsPairCache(false)
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{
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if (!m_pairCache)
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{
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m_pairCache = new btOverlappingPairCache();
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m_ownsPairCache = true;
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}
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//assert(bounds.HasVolume());
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// 1 handle is reserved as sentinel
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btAssert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES);
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// init bounds
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m_worldAabbMin = worldAabbMin;
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m_worldAabbMax = worldAabbMax;
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btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
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BP_FP_INT_TYPE maxInt = BP_HANDLE_SENTINEL;
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m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
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// allocate handles buffer and put all handles on free list
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m_pHandles = new Handle[maxHandles];
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m_maxHandles = maxHandles;
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m_numHandles = 0;
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// handle 0 is reserved as the null index, and is also used as the sentinel
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m_firstFreeHandle = 1;
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{
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for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
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m_pHandles[i].SetNextFree(i + 1);
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m_pHandles[maxHandles - 1].SetNextFree(0);
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}
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{
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// allocate edge buffers
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for (int i = 0; i < 3; i++)
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m_pEdges[i] = new Edge[maxHandles * 2];
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}
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//removed overlap management
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// make boundary sentinels
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m_pHandles[0].m_clientObject = 0;
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for (int axis = 0; axis < 3; axis++)
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{
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m_pHandles[0].m_minEdges[axis] = 0;
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m_pHandles[0].m_maxEdges[axis] = 1;
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m_pEdges[axis][0].m_pos = 0;
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m_pEdges[axis][0].m_handle = 0;
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m_pEdges[axis][1].m_pos = BP_HANDLE_SENTINEL;
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m_pEdges[axis][1].m_handle = 0;
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#ifdef DEBUG_BROADPHASE
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debugPrintAxis(axis);
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#endif //DEBUG_BROADPHASE
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}
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btAssert(maxHandles > 1 && maxHandles < 32767);
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}
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btAxisSweep3::~btAxisSweep3()
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bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache )
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:btAxisSweep3Internal(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache)
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{
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for (int i = 2; i >= 0; i--)
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delete[] m_pEdges[i];
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delete[] m_pHandles;
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if (m_ownsPairCache)
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{
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delete m_pairCache;
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}
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// 1 handle is reserved as sentinel
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btAssert(maxHandles > 1 && maxHandles < 2147483647);
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}
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void btAxisSweep3::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
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{
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btPoint3 clampedPoint(point);
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clampedPoint.setMax(m_worldAabbMin);
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clampedPoint.setMin(m_worldAabbMax);
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btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
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out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & BP_HANDLE_MASK) | isMax);
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out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & BP_HANDLE_MASK) | isMax);
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out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & BP_HANDLE_MASK) | isMax);
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}
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BP_FP_INT_TYPE btAxisSweep3::allocHandle()
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{
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assert(m_firstFreeHandle);
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BP_FP_INT_TYPE handle = m_firstFreeHandle;
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m_firstFreeHandle = getHandle(handle)->GetNextFree();
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m_numHandles++;
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return handle;
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}
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void btAxisSweep3::freeHandle(BP_FP_INT_TYPE handle)
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{
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assert(handle > 0 && handle < m_maxHandles);
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getHandle(handle)->SetNextFree(m_firstFreeHandle);
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m_firstFreeHandle = handle;
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m_numHandles--;
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}
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BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
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{
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// quantize the bounds
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BP_FP_INT_TYPE min[3], max[3];
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quantize(min, aabbMin, 0);
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quantize(max, aabbMax, 1);
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// allocate a handle
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BP_FP_INT_TYPE handle = allocHandle();
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assert(handle!= 0xcdcd);
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Handle* pHandle = getHandle(handle);
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pHandle->m_handleId = handle;
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//pHandle->m_pOverlaps = 0;
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pHandle->m_clientObject = pOwner;
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pHandle->m_collisionFilterGroup = collisionFilterGroup;
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pHandle->m_collisionFilterMask = collisionFilterMask;
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// compute current limit of edge arrays
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BP_FP_INT_TYPE limit = m_numHandles * 2;
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// insert new edges just inside the max boundary edge
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for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
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{
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m_pHandles[0].m_maxEdges[axis] += 2;
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m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
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m_pEdges[axis][limit - 1].m_pos = min[axis];
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m_pEdges[axis][limit - 1].m_handle = handle;
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m_pEdges[axis][limit].m_pos = max[axis];
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m_pEdges[axis][limit].m_handle = handle;
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pHandle->m_minEdges[axis] = limit - 1;
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pHandle->m_maxEdges[axis] = limit;
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}
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// now sort the new edges to their correct position
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sortMinDown(0, pHandle->m_minEdges[0], false);
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sortMaxDown(0, pHandle->m_maxEdges[0], false);
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sortMinDown(1, pHandle->m_minEdges[1], false);
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sortMaxDown(1, pHandle->m_maxEdges[1], false);
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sortMinDown(2, pHandle->m_minEdges[2], true);
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sortMaxDown(2, pHandle->m_maxEdges[2], true);
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return handle;
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}
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void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher)
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{
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Handle* pHandle = getHandle(handle);
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//explicitly remove the pairs containing the proxy
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//we could do it also in the sortMinUp (passing true)
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//todo: compare performance
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m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
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// compute current limit of edge arrays
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int limit = m_numHandles * 2;
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int axis;
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for (axis = 0;axis<3;axis++)
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{
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m_pHandles[0].m_maxEdges[axis] -= 2;
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}
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// remove the edges by sorting them up to the end of the list
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for ( axis = 0; axis < 3; axis++)
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{
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Edge* pEdges = m_pEdges[axis];
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BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
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pEdges[max].m_pos = BP_HANDLE_SENTINEL;
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sortMaxUp(axis,max,false);
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BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
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pEdges[i].m_pos = BP_HANDLE_SENTINEL;
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sortMinUp(axis,i,false);
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pEdges[limit-1].m_handle = 0;
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pEdges[limit-1].m_pos = BP_HANDLE_SENTINEL;
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#ifdef DEBUG_BROADPHASE
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debugPrintAxis(axis,false);
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#endif //DEBUG_BROADPHASE
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}
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// free the handle
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freeHandle(handle);
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}
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extern int gOverlappingPairs;
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void btAxisSweep3::calculateOverlappingPairs(btDispatcher* dispatcher)
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{
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if (m_ownsPairCache)
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{
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btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
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//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
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overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
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m_invalidPair = 0;
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int i;
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btBroadphasePair previousPair;
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previousPair.m_pProxy0 = 0;
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previousPair.m_pProxy1 = 0;
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previousPair.m_algorithm = 0;
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for (i=0;i<overlappingPairArray.size();i++)
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{
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btBroadphasePair& pair = overlappingPairArray[i];
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bool isDuplicate = (pair == previousPair);
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previousPair = pair;
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bool needsRemoval = false;
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if (!isDuplicate)
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{
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bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
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if (hasOverlap)
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{
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needsRemoval = false;//callback->processOverlap(pair);
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} else
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{
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needsRemoval = true;
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}
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} else
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{
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//remove duplicate
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needsRemoval = true;
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//should have no algorithm
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btAssert(!pair.m_algorithm);
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}
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if (needsRemoval)
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{
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m_pairCache->cleanOverlappingPair(pair,dispatcher);
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// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
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// m_overlappingPairArray.pop_back();
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pair.m_pProxy0 = 0;
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pair.m_pProxy1 = 0;
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m_invalidPair++;
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gOverlappingPairs--;
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}
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}
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///if you don't like to skip the invalid pairs in the array, execute following code:
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#define CLEAN_INVALID_PAIRS 1
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#ifdef CLEAN_INVALID_PAIRS
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//perform a sort, to sort 'invalid' pairs to the end
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overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
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m_invalidPair = 0;
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#endif//CLEAN_INVALID_PAIRS
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}
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}
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bool btAxisSweep3::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
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{
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const Handle* pHandleA = static_cast<Handle*>(proxy0);
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const Handle* pHandleB = static_cast<Handle*>(proxy1);
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//optimization 1: check the array index (memory address), instead of the m_pos
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for (int axis = 0; axis < 3; axis++)
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{
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if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
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pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
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{
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return false;
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}
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}
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return true;
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}
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bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB)
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{
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//optimization 1: check the array index (memory address), instead of the m_pos
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for (int axis = 0; axis < 3; axis++)
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{
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if (axis != ignoreAxis)
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{
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if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
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pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
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{
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return false;
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}
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}
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}
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//optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization)
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/*for (int axis = 0; axis < 3; axis++)
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{
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if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos ||
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m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos)
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{
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return false;
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}
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}
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*/
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return true;
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}
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void btAxisSweep3::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax)
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{
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// assert(bounds.IsFinite());
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//assert(bounds.HasVolume());
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Handle* pHandle = getHandle(handle);
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// quantize the new bounds
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BP_FP_INT_TYPE min[3], max[3];
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quantize(min, aabbMin, 0);
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quantize(max, aabbMax, 1);
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// update changed edges
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for (int axis = 0; axis < 3; axis++)
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{
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BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis];
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BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis];
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int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
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int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
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m_pEdges[axis][emin].m_pos = min[axis];
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m_pEdges[axis][emax].m_pos = max[axis];
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// expand (only adds overlaps)
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if (dmin < 0)
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sortMinDown(axis, emin);
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if (dmax > 0)
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sortMaxUp(axis, emax);
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// shrink (only removes overlaps)
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if (dmin > 0)
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sortMinUp(axis, emin);
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if (dmax < 0)
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sortMaxDown(axis, emax);
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#ifdef DEBUG_BROADPHASE
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debugPrintAxis(axis);
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#endif //DEBUG_BROADPHASE
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}
|
||||
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||||
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||||
}
|
||||
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||||
|
||||
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||||
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||||
// sorting a min edge downwards can only ever *add* overlaps
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void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
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{
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||||
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Edge* pEdge = m_pEdges[axis] + edge;
|
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Edge* pPrev = pEdge - 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos < pPrev->m_pos)
|
||||
{
|
||||
Handle* pHandlePrev = getHandle(pPrev->m_handle);
|
||||
|
||||
if (pPrev->IsMax())
|
||||
{
|
||||
// if previous edge is a maximum check the bounds and add an overlap if necessary
|
||||
if (updateOverlaps && testOverlap(axis,pHandleEdge, pHandlePrev))
|
||||
{
|
||||
m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev);
|
||||
|
||||
//AddOverlap(pEdge->m_handle, pPrev->m_handle);
|
||||
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandlePrev->m_maxEdges[axis]++;
|
||||
}
|
||||
else
|
||||
pHandlePrev->m_minEdges[axis]++;
|
||||
|
||||
pHandleEdge->m_minEdges[axis]--;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pPrev;
|
||||
*pPrev = swap;
|
||||
|
||||
// decrement
|
||||
pEdge--;
|
||||
pPrev--;
|
||||
}
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
debugPrintAxis(axis);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
}
|
||||
|
||||
// sorting a min edge upwards can only ever *remove* overlaps
|
||||
void btAxisSweep3::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pNext = pEdge + 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
|
||||
{
|
||||
Handle* pHandleNext = getHandle(pNext->m_handle);
|
||||
|
||||
if (pNext->IsMax())
|
||||
{
|
||||
// if next edge is maximum remove any overlap between the two handles
|
||||
if (updateOverlaps)
|
||||
{
|
||||
/*
|
||||
Handle* handle0 = getHandle(pEdge->m_handle);
|
||||
Handle* handle1 = getHandle(pNext->m_handle);
|
||||
btBroadphasePair tmpPair(*handle0,*handle1);
|
||||
removeOverlappingPair(tmpPair);
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandleNext->m_maxEdges[axis]--;
|
||||
}
|
||||
else
|
||||
pHandleNext->m_minEdges[axis]--;
|
||||
|
||||
pHandleEdge->m_minEdges[axis]++;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pNext;
|
||||
*pNext = swap;
|
||||
|
||||
// increment
|
||||
pEdge++;
|
||||
pNext++;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
// sorting a max edge downwards can only ever *remove* overlaps
|
||||
void btAxisSweep3::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
||||
{
|
||||
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pPrev = pEdge - 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos < pPrev->m_pos)
|
||||
{
|
||||
Handle* pHandlePrev = getHandle(pPrev->m_handle);
|
||||
|
||||
if (!pPrev->IsMax())
|
||||
{
|
||||
// if previous edge was a minimum remove any overlap between the two handles
|
||||
if (updateOverlaps)
|
||||
{
|
||||
//this is done during the overlappingpairarray iteration/narrowphase collision
|
||||
/*
|
||||
Handle* handle0 = getHandle(pEdge->m_handle);
|
||||
Handle* handle1 = getHandle(pPrev->m_handle);
|
||||
btBroadphasePair* pair = findPair(handle0,handle1);
|
||||
//assert(pair);
|
||||
|
||||
if (pair)
|
||||
{
|
||||
removeOverlappingPair(*pair);
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandlePrev->m_minEdges[axis]++;;
|
||||
}
|
||||
else
|
||||
pHandlePrev->m_maxEdges[axis]++;
|
||||
|
||||
pHandleEdge->m_maxEdges[axis]--;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pPrev;
|
||||
*pPrev = swap;
|
||||
|
||||
// decrement
|
||||
pEdge--;
|
||||
pPrev--;
|
||||
}
|
||||
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
debugPrintAxis(axis);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
}
|
||||
|
||||
// sorting a max edge upwards can only ever *add* overlaps
|
||||
void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pNext = pEdge + 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
|
||||
{
|
||||
Handle* pHandleNext = getHandle(pNext->m_handle);
|
||||
|
||||
if (!pNext->IsMax())
|
||||
{
|
||||
// if next edge is a minimum check the bounds and add an overlap if necessary
|
||||
if (updateOverlaps && testOverlap(axis, pHandleEdge, pHandleNext))
|
||||
{
|
||||
Handle* handle0 = getHandle(pEdge->m_handle);
|
||||
Handle* handle1 = getHandle(pNext->m_handle);
|
||||
m_pairCache->addOverlappingPair(handle0,handle1);
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandleNext->m_minEdges[axis]--;
|
||||
}
|
||||
else
|
||||
pHandleNext->m_maxEdges[axis]--;
|
||||
|
||||
pHandleEdge->m_maxEdges[axis]++;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pNext;
|
||||
*pNext = swap;
|
||||
|
||||
// increment
|
||||
pEdge++;
|
||||
pNext++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user